FAULT DIAGNOSIS DEVICE FOR DRIVE MECHANISM, FAULT DIAGNOSIS METHOD, AND MECHANICAL APPARATUS PROVIDED WITH FAULT DIAGNOSIS DEVICE

摘要

This diagnosis device for a drive mechanism is a fault diagnosis device for a drive mechanism (51) that includes a reducer (13) and a motor of a mechanical apparatus (11), the mechanical apparatus (11) being provided with: a body (31) that includes the motor (14), the reducer (13) for reducing the rotative power of the motor (14), and an operation unit (12) that operates by means of the rotative power reduced by the reducer (13); and an anti-vibration control unit (33) that performs an anti-vibration control to prevent vibration of the body (31), wherein the fault diagnosis device is configured so as to: transmit, to the anti-vibration control unit (33) of the mechanical apparatus (11), a command to stop the anti-vibration control; subsequently specify an acceleration period in which operation of the mechanical apparatus (11), for which the anti-vibration control has been stopped, is accelerated; and assess whether there is a symptom of a fault in the drive mechanism (51), the assessment being made on the basis of a load current of the motor (14) corresponding to a change in the speed of the motor (14) in the acceleration period, or on the basis of a change in the frequency spectrum of a motor current, which is a current value correlated with the load current.